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<div class="title">data_source.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_FEATURES_TEST_DATA_SORUCE_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_GPU_FEATURES_TEST_DATA_SORUCE_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include&lt;string&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/io/pcd_io.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/features/normal_3d.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/cloud_viewer.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/kernel_containers.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;Eigen/StdVector&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#if defined (_WIN32) || defined(_WIN64)</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(<a class="code" href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a>)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(<a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a>)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">namespace </span>gpu</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_data_source.html">   65</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1_data_source.html">DataSource</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        {               </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">int</span> k = 32;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;            <span class="keyword">const</span> <span class="keyword">static</span> <span class="keywordtype">int</span> max_elements = 500;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            PointCloud&lt;PointXYZ&gt;::Ptr cloud;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;            PointCloud&lt;PointXYZ&gt;::Ptr surface;            </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            IndicesPtr indices;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            PointCloud&lt;Normal&gt;::Ptr normals;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            PointCloud&lt;Normal&gt;::Ptr normals_surface;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;            <span class="keywordtype">float</span> radius;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;            std::vector&lt; std::vector&lt;int&gt; &gt; neighbors_all;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            std::vector&lt;int&gt; sizes;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;            <span class="keywordtype">int</span> max_nn_size;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            <a class="code" href="structpcl_1_1gpu_1_1_data_source.html">DataSource</a>(<span class="keyword">const</span> std::string&amp; file = <span class="stringliteral">&quot;d:/office_chair_model.pcd&quot;</span>) </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                : cloud(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>()), surface(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>()), indices( <span class="keyword">new</span> std::vector&lt;int&gt;() ),</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                normals(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Normal&gt;</a>()), normals_surface(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Normal&gt;</a>())</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;            {                </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                <a class="code" href="classpcl_1_1_p_c_d_reader.html">PCDReader</a> pcd;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                pcd.<a class="code" href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">read</a>(file, *cloud);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> minp, maxp;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a>(*cloud, minp, maxp);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                <span class="keywordtype">float</span> sz = (maxp.x - minp.x + maxp.y - minp.y + maxp.z - minp.z) / 3;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                radius = sz / 15;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;            }</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            <span class="keywordtype">void</span> generateColor()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                <span class="keywordtype">size_t</span> cloud_size = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size();</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_size; ++i)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                    <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&amp; p = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                    <span class="keywordtype">int</span> r = std::max(1, std::min(255, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>((<span class="keywordtype">double</span>(rand())/RAND_MAX)*255)));</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                    <span class="keywordtype">int</span> g = std::max(1, std::min(255, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>((<span class="keywordtype">double</span>(rand())/RAND_MAX)*255)));</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                    <span class="keywordtype">int</span> b = std::max(1, std::min(255, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>((<span class="keywordtype">double</span>(rand())/RAND_MAX)*255)));</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                    *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span>(&amp;p.data[3]) = (b &lt;&lt; 16) + (g &lt;&lt; 8) + r;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keywordtype">void</span> estimateNormals()</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;            {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                <a class="code" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt;PointXYZ, Normal&gt;</a> ne;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                ne.<a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                ne.<a class="code" href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">setSearchMethod</a> (pcl::search::KdTree&lt;PointXYZ&gt;::Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointXYZ&gt;</a>));</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                ne.<a class="code" href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">setKSearch</a> (k);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                <span class="comment">//ne.setRadiusSearch (radius);</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                ne.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normals);                </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;            }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="keywordtype">void</span> runCloudViewer()<span class="keyword"> const</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                <a class="code" href="classpcl_1_1visualization_1_1_cloud_viewer.html">pcl::visualization::CloudViewer</a> viewer (<span class="stringliteral">&quot;Simple Cloud Viewer&quot;</span>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                viewer.<a class="code" href="classpcl_1_1visualization_1_1_cloud_viewer.html#a845aa739fa2ed4c3e57a07e762a48c2b">showCloud</a> (cloud);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                <span class="keywordflow">while</span> (!viewer.<a class="code" href="classpcl_1_1visualization_1_1_cloud_viewer.html#a7225294cad46d65a3f54c8a97dde1982">wasStopped</a> ()) {}</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;            <span class="keywordtype">void</span> findKNNeghbors()</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            {                                </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                KdTreeFLANN&lt;PointXYZ&gt;::Ptr kdtree(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                kdtree-&gt;<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">setInputCloud</a>(cloud);                </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                <span class="keywordtype">size_t</span> cloud_size = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size();</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                std::vector&lt;float&gt; dists;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                neighbors_all.resize(cloud_size);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_size; ++i)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                    kdtree-&gt;<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9bdbc03758c8d7b3033139e2fb1e6150">nearestKSearch</a>(cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], k, neighbors_all[i], dists);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                    sizes.push_back((<span class="keywordtype">int</span>)neighbors_all[i].size());        </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                max_nn_size = *max_element(sizes.begin(), sizes.end());</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            <span class="keywordtype">void</span> findRadiusNeghbors(<span class="keywordtype">float</span> radius = -1)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                radius = radius == -1 ? this-&gt;radius : radius;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                KdTreeFLANN&lt;PointXYZ&gt;::Ptr kdtree(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html">KdTreeFLANN&lt;PointXYZ&gt;</a>);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                kdtree-&gt;<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">setInputCloud</a>(cloud);                </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                <span class="keywordtype">size_t</span> cloud_size = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size();</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                std::vector&lt;float&gt; dists;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                neighbors_all.resize(cloud_size);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_size; ++i)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                    kdtree-&gt;<a class="code" href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ab598d8e1220f1292b938e3a66f1ec370">radiusSearch</a>(cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], radius, neighbors_all[i], dists);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                    sizes.push_back((<span class="keywordtype">int</span>)neighbors_all[i].size());        </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                max_nn_size = *max_element(sizes.begin(), sizes.end());</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;            }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;            <span class="keywordtype">void</span> getNeghborsArray(std::vector&lt;int&gt;&amp; data)</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;            {   </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                data.resize(max_nn_size * neighbors_all.size());</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                <a class="code" href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep&lt;int&gt;</a> ps(&amp;data[0], max_nn_size * <span class="keyword">sizeof</span>(<span class="keywordtype">int</span>));    </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; neighbors_all.size(); ++i)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                    copy(neighbors_all[i].begin(), neighbors_all[i].end(), ps.ptr(i));</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            <span class="keywordtype">void</span> generateSurface()</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;            {</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear();</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size(); i+= 10)               </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                    surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back(cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size();</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                  </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                <span class="keywordflow">if</span> (!normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.empty())</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                    normals_surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                    <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size(); i+= 10)               </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                        normals_surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back(normals-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i]);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                    normals_surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                    normals_surface-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                }                                </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;            <span class="keywordtype">void</span> generateIndices(<span class="keywordtype">size_t</span> step = 100)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                indices-&gt;clear();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size(); i += step)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                    indices-&gt;push_back(i);                </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="structpcl_1_1gpu_1_1_data_source_1_1_normal2_point_x_y_z.html">  198</a></span>&#160;            <span class="keyword">struct </span><a class="code" href="structpcl_1_1gpu_1_1_data_source_1_1_normal2_point_x_y_z.html">Normal2PointXYZ</a></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> operator()(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_normal.html">Normal</a>&amp; n)<span class="keyword"> const</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">                </span>{</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                    <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> xyz;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                    xyz.x = n.normal[0];</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                    xyz.y = n.normal[1];</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                    xyz.z = n.normal[2];</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;                    <span class="keywordflow">return</span> xyz;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            };</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        };</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_GPU_FEATURES_TEST_DATA_SORUCE_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a50129bc51cb240eca42df9963f7ac0c0"><div class="ttname"><a href="classpcl_1_1_feature.html#a50129bc51cb240eca42df9963f7ac0c0">pcl::Feature::setKSearch</a></div><div class="ttdeci">void setKSearch(int k)</div><div class="ttdoc">Set the number of k nearest neighbors to use for the feature estimation.</div><div class="ttdef"><b>Definition:</b> feature.h:186</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ace1caca622f06eee8ad1911228324792"><div class="ttname"><a href="classpcl_1_1_feature.html#ace1caca622f06eee8ad1911228324792">pcl::Feature::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> feature.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html">pcl::KdTreeFLANN</a></div><div class="ttdoc">KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures. The class is making use...</div><div class="ttdef"><b>Definition:</b> kdtree_flann.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_a9bdbc03758c8d7b3033139e2fb1e6150"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#a9bdbc03758c8d7b3033139e2fb1e6150">pcl::KdTreeFLANN::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &amp;point, int k, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances) const</div><div class="ttdoc">Search for k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:132</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_ab598d8e1220f1292b938e3a66f1ec370"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#ab598d8e1220f1292b938e3a66f1ec370">pcl::KdTreeFLANN::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &amp;point, double radius, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_sqr_distances, unsigned int max_nn=0) const</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_kd_tree_f_l_a_n_n_html_aba28a792bf0c2026aa0a6a99ed3e32ec"><div class="ttname"><a href="classpcl_1_1_kd_tree_f_l_a_n_n.html#aba28a792bf0c2026aa0a6a99ed3e32ec">pcl::KdTreeFLANN::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree_flann.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac92dbbea9d923754b3d87d981a6bd131"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">pcl::NormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> normal_3d.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html">pcl::PCDReader</a></div><div class="ttdoc">Point Cloud Data (PCD) file format reader.</div><div class="ttdef"><b>Definition:</b> pcd_io.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_d_reader_html_a21f154e8ce3f4d5e905ecaa395935c42"><div class="ttname"><a href="classpcl_1_1_p_c_d_reader.html#a21f154e8ce3f4d5e905ecaa395935c42">pcl::PCDReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;pcd_version, const int offset=0)</div><div class="ttdoc">Read a point cloud data from a PCD file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_viewer_html"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_viewer.html">pcl::visualization::CloudViewer</a></div><div class="ttdoc">Simple point cloud visualization class</div><div class="ttdef"><b>Definition:</b> cloud_viewer.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_viewer_html_a7225294cad46d65a3f54c8a97dde1982"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_viewer.html#a7225294cad46d65a3f54c8a97dde1982">pcl::visualization::CloudViewer::wasStopped</a></div><div class="ttdeci">bool wasStopped(int millis_to_wait=1)</div><div class="ttdoc">Check if the gui was quit, you should quit also</div></div>
<div class="ttc" id="aclasspcl_1_1visualization_1_1_cloud_viewer_html_a845aa739fa2ed4c3e57a07e762a48c2b"><div class="ttname"><a href="classpcl_1_1visualization_1_1_cloud_viewer.html#a845aa739fa2ed4c3e57a07e762a48c2b">pcl::visualization::CloudViewer::showCloud</a></div><div class="ttdeci">void showCloud(const ColorCloud::ConstPtr &amp;cloud, const std::string &amp;cloudname=&quot;cloud&quot;)</div><div class="ttdoc">Show a cloud, with an optional key for multiple clouds.</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_data_source_1_1_normal2_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_data_source_1_1_normal2_point_x_y_z.html">pcl::gpu::DataSource::Normal2PointXYZ</a></div><div class="ttdef"><b>Definition:</b> data_source.hpp:199</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_data_source_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_data_source.html">pcl::gpu::DataSource</a></div><div class="ttdef"><b>Definition:</b> data_source.hpp:66</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1_ptr_step_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1_ptr_step.html">pcl::gpu::PtrStep</a></div><div class="ttdef"><b>Definition:</b> kernel_containers.h:78</div></div>
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